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Improved particle fusing geometric relation between particles in FastSLAM
Kim, Inkyu,Kwak, Nosan,Lee, Heoncheol,Lee, Beomhee Cambridge University Press 2009 Robotica Vol.27 No.6
<B>SUMMARY</B><P>FastSLAM is a framework for simultaneous localization and mapping using a Rao-Blackwellized particle filter (RBPF). But, FastSLAM is known to degenerate over time due to the loss of particle diversity, mainly caused by the particle depletion problem in resampling phase. In this work, improved particle filter using geometric relation between particles is proposed to restrain particle depletion and to reduce estimation errors and error variances. It uses a KD tree (<I>k</I>-dimensional tree) to derive geometric relation among particles and filters particles with importance weight conditions for resampling. Compared to the original particle filter used in FastSLAM, this technique showed less estimation error with lower error standard deviation in computer simulations.</P>
Kim, Hoonbae,Yeo, Donghyun,Won, Beomhee,Yu, SeGi,Jung, Donggeun American Scientific Publishers 2016 Journal of Nanoscience and Nanotechnology Vol.16 No.5
<P>Flexible organic solar cells (OSCs) were fabricated on an indium-tin-oxide (ITO)/poly(ethylene terephthalate) (PET) substrate and were subjected to bending tests with various bending radii. We observed that the photovoltaic properties of the OSCs precipitously deteriorated at a bending radius <= 0.75 cm. In order to investigate the effects of the bending test, the changes in the surface morphology and the sheet resistance of the ITO-coated PET samples were investigated, and the photovoltaic properties of bent and unbent OSCs were evaluated. Thereafter, equivalent circuits for the OSCs were assumed and the change in their parameters, such as resistance and capacitance, was observed.</P>